def __init__(self, result_dir):
self.result_dir = os.path.join(result_dir, cfg.test.dataset)
os.system('mkdir -p {}'.format(self.result_dir))
args = DatasetCatalog.get(cfg.test.dataset)
self.ann_file = args['ann_file']
self.coco = coco.COCO(self.ann_file)
data_root = args['data_root']
cls = cfg.cls_type
model_path = os.path.join('data/linemod', cls, cls + '.ply')
self.model = pvnet_data_utils.get_ply_model(model_path)
self.diameter = linemod_config.diameters[cls] / 100
self.proj2d = []
self.add = []
self.cmd5 = []
self.icp_proj2d = []
self.icp_add = []
self.icp_cmd5 = []
self.mask_ap = []
self.height = 480
self.width = 640
model = inout.load_ply(model_path)
model['pts'] = model['pts'] * 1000
self.icp_refiner = icp_utils.ICPRefiner(
model, (self.width, self.height)) if cfg.test.icp else None
def run_render():
from lib.utils.renderer import opengl_utils
from lib.utils.vsd import inout
from lib.utils.linemod import linemod_config
import matplotlib.pyplot as plt
obj_path = 'data/linemod/cat/cat.ply'
model = inout.load_ply(obj_path)
model['pts'] = model['pts'] * 1000.
im_size = (640, 300)
opengl = opengl_utils.NormalRender(model, im_size)
K = linemod_config.linemod_K
pose = np.load('data/linemod/cat/pose/pose0.npy')
depth = opengl.render(im_size, 100, 10000, K, pose[:, :3], pose[:, 3:] * 1000)
plt.imshow(depth)
plt.show()
def __init__(self, result_dir):
self.result_dir = result_dir
args = DatasetCatalog.get(cfg.test.dataset)
self.ann_file = args['ann_file']
self.obj_id = int(args['obj_id'])
self.coco = coco.COCO(self.ann_file)
self.gt_img_ids = self.coco.getImgIds(catIds=[self.obj_id])
model_dir = 'data/tless/models_cad'
obj_path = os.path.join(model_dir,
'obj_{:02d}.ply'.format(self.obj_id))
self.model = inout.load_ply(obj_path)
self.model_pts = self.model['pts'] / 1000.
model_info = yaml.load(open(os.path.join(model_dir,
'models_info.yml')))
self.diameter = model_info[self.obj_id]['diameter'] / 1000.
self.vsd = []
self.adi = []
self.cmd5 = []
self.icp_vsd = []
self.icp_adi = []
self.icp_cmd5 = []
self.pose_per_id = []
self.pose_icp_per_id = []
self.img_ids = []
self.height = 540
self.width = 720
if cfg.test.icp or cfg.test.vsd:
self.icp_refiner = icp_utils.ICPRefiner(self.model,
(self.width, self.height))