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Add default arguments to ICP function? #163
Description
Hi,
Overview
I wanted to use the cc.ICP function similar to when we used it in the command line call to CloudCompare. However, I found that the function would not run without named argument definitions for everything despite not being required in the command line option.
Question
Given the command line version of the ICP function works without specifying every individual argument, then I'm assuming it's working with internal defaults. It appears the CloudComPy ICP function already has some pre-defined defaults, so can the other argument defaults be added as well, please?
- If not, can you please provide explanations in the documentation of how to choose the best options to put for each argument?
Context
In the command line script, we only defined the overlap and the random sampling limit:
path1 = "path/to/input/cloud.las"
path2 = "path/to/reference/cloud.las"
path3 = "output/cloud.las"
open -W -g -a CloudCompare.app --args -SILENT -O -GLOBAL_SHIFT -620000.00 -1010000.00 0 "$path1" -O -GLOBAL_SHIFT -620000.00 -1010000.00 0 "$path2" -ICP -OVERLAP 98 -RANDOM_SAMPLING_LIMIT 100000 -C_EXPORT_FMT LAS -SAVE_CLOUDS FILE "$path3" -CLEAR
Initial attempt
In CloudComPy, we tried doing the following, which gave us the error:
clouds = [cc.loadPointCloud(w, mode = cc.CC_SHIFT_MODE.XYZ,
x = shiftX, y = shiftY, z = shiftZ)
for w in [pathInput, pathRef]]
res = cc.ICP(data = clouds[0],
model = clouds[1],
finalOverlapRatio = 0.98,
randomSamplingLimit = 100000)
>>> res = cc.ICP(data = clouds[0],
... model = clouds[1],
... finalOverlapRatio = 0.98,
... randomSamplingLimit = 100000)
Traceback (most recent call last):
File "<stdin>", line 1, in <module>
TypeError: ICP(): incompatible function arguments. The following argument types are supported:
1. (data: _cloudComPy.ccHObject, model: _cloudComPy.ccHObject, minRMSDecrease: float, maxIterationCount: int, randomSamplingLimit: int, removeFarthestPoints: bool, method: _cloudComPy.CONVERGENCE_TYPE, adjustScale: bool, finalOverlapRatio: float = 1.0, useDataSFAsWeights: bool = False, useModelSFAsWeights: bool = False, transformationFilters: int = <TRANSFORMATION_FILTERS.SKIP_NONE: 0>, maxThreadCount: int = 0) -> _cloudComPy.ICPres
Invoked with: kwargs: data=<_cloudComPy.ccPointCloud object at 0x102f5ab30>, model=<_cloudComPy.ccPointCloud object at 0x102f5afb0>, finalOverlapRatio=98, randomSamplingLimit=100000Second attempt
I thought maybe the issue is that the function has no defaults and therefore is expecting arguments. I thus used the arguments as defined in test010.py from Section 4.1 in the documentation, and this worked.
res = cc.ICP(data = clouds[0], model = clouds[1],
minRMSDecrease=1.e-5, maxIterationCount=20, # defaults
removeFarthestPoints=False, # defaults
method=cc.CONVERGENCE_TYPE.MAX_ITER_CONVERGENCE, # defaults
adjustScale=False, # defaults
finalOverlapRatio = 0.98,
randomSamplingLimit = 100000)
>>>
Activity
rasclep commentedon Apr 28, 2024
Hi, you're right, the current implementation in CloudComPy requires at least 8 arguments, and only 5 are optional. It should be easy to define more arguments as optional, I'll add that to my TODO list!
Regards,
Paul
mcgregorian1 commentedon Apr 29, 2024
Thanks!
In the meantime, do you know what the actual defaults are for each of the arguments as they were used in the command line version of the ICP function? The best I can tell from the documentation along with the CloudCompare GUI (and separate docs is
prascle commentedon May 7, 2024
Sorry, I forgot your question!
From the code (https://github.com/CloudCompare/CloudCompare/blob/master/qCC/ccCommandLineCommands.cpp) line 6631, you can get some default values in command mode (C++ names are quite similar to the names used in GUI or Command Mode)
If
iterationCountis not 0,MAX_ITER_CONVERGENCEis selected, otherwise it isMAX_ERROR_CONVERGENCEBest regards,
Paul
mcgregorian1 commentedon May 8, 2024
No worries, thanks for pointing me to the defaults!
(issue CloudCompare#163) Add default arguments to ICP function