def update_rotation_error(self,
prediction,
ground_truth,
meta_data=None,
logger=None,
name_str='',
style='euler'
):
"""
Get rotation error between two 3D point clouds.
"""
num_data = len(prediction)
prediction = prediction.reshape(num_data, -1, 3)
ground_truth = ground_truth.reshape(num_data, -1, 3)
if style == 'euler':
results = -np.ones((num_data, 3))
for data_idx in range(num_data):
R, T = ltr.compute_rigid_transform(prediction[data_idx].T,
ground_truth[data_idx].T
)
if style == 'euler':
results[data_idx] = np.abs(Rotation.from_matrix(R).as_euler('xyz',
degrees=True
)
)
else:
raise NotImplementedError
update_statistics(self, results, num_data, name_str)
return
def kpts_to_euler(template, prediction):
"""
Convert the predicted cuboid representation to euler angles.
"""
# estimate roll, pitch, yaw of the prediction by comparing with a
# reference bounding box
# prediction and template of shape [3, N_points]
R, T = ltr.compute_rigid_transform(template, prediction)
# in the order of yaw, pitch and roll
angles = Rotation.from_matrix(R).as_euler('yxz', degrees=False)
# re-order in the order of x, y and z
angles = angles[[1,0,2]]
return angles, T