Added --single option, which causes only a single camera to be moved …

…(in stead of 2). Should make it easier to debug registration fixing algorithms.

sandbox/genregtest.py

@@ -17,13 +17,17 @@ def main():
     parser.add_argument("--distance", action="store", type=float, default="0.01", metavar="DIST", help="Camera 2 and 4 point clouds will be move DIST meters out from where they should be")
     parser.add_argument("--npoint", action="store", type=int, default=200000, metavar="COUNT", help="Create original point cloud of approximately this many points")
     parser.add_argument("--two", action="store_true", help="Output only camera 1 and 2 points (in stead of all 4)")
+    parser.add_argument("--single", action="store_true", help="Modify only camera 2 (in stead of 2 and 4)")
     parser.add_argument("output", action="store", help="Output ply file")
     args = parser.parse_args()
     distance = args.distance
     npoint = args.npoint
     output = args.output
 
-    pc = create_regtest_pointcloud(npoint, [(0,0,0), (0,0,-distance), (0,0,0), (0,0,distance)], args.two)
+    offsets = [(0,0,0), (0,0,-distance), (0,0,0), (0,0,distance)]
+    if args.single:
+        offsets[3] = (0, 0, 0)
+    pc = create_regtest_pointcloud(npoint, offsets, args.two)
     cwipc.cwipc_write(output, pc)
 
 def create_regtest_pointcloud(npoint : int, offsets : List[MyPoint], twocam : bool=False) -> cwipc.cwipc_wrapper: