offset=offset) ref_list_len = len(ref_id_list) if count == -1: count = ref_list_len #pose_estimate_list_loaded_len = len(pose_estimate_list_loaded) for i in range(start_count, count): ref_id = ref_id_list[i] target_id = target_id_list[i] SE3_ref_target = Parser.generate_ground_truth_se3(groundtruth_dict, image_groundtruth_dict, ref_id, target_id, post_process_object=None) im_greyscale_reference, im_depth_reference = Parser.generate_image_depth_pair_match( dataset_root, rgb_text, depth_text, match_text, ref_id) im_greyscale_target, im_depth_target = Parser.generate_image_depth_pair_match( dataset_root, rgb_text, depth_text, match_text, ref_id) post_process_gt.post_process_in_mem(SE3_ref_target) ground_truth_acc = np.matmul(ground_truth_acc, SE3_ref_target) ground_truth_list.append(ground_truth_acc) ref_image_list.append((im_greyscale_reference, im_depth_reference)) target_image_list.append((im_greyscale_target, im_depth_target))
#rgb_id_ref = 1305031108.743502 #rgb_id_target = 1305031108.775493 #rgb_id_target = 1305031108.811244 #rgb_id_ref = 1305031119.615017 #rgb_id_target = 1305031119.647903 #rgb_id_ref = 1305031106.675279 #rgb_id_target = 1305031106.711508 image_groundtruth_dict = dict(associate.match(rgb_text, groundtruth_text)) groundtruth_ts_ref = image_groundtruth_dict[rgb_id_ref] groundtruth_data_ref = associate.return_dictionary_data( groundtruth_text, groundtruth_ts_ref) SE3_ref = Parser.generate_se3_from_groundtruth(groundtruth_data_ref) groundtruth_ts_target = image_groundtruth_dict[rgb_id_target] groundtruth_data_target = associate.return_dictionary_data( groundtruth_text, groundtruth_ts_target) SE3_target = Parser.generate_se3_from_groundtruth(groundtruth_data_target) SE3_ref_target = SE3.pose_pose_composition_inverse(SE3_ref, SE3_target) rgb_ref_file_path, depth_ref_file_path = associate.return_rgb_depth_from_rgb_selection( rgb_text, depth_text, match_text, dataset_root, rgb_id_ref) rgb_target_file_path, depth_target_file_path = associate.return_rgb_depth_from_rgb_selection( rgb_text, depth_text, match_text, dataset_root, rgb_id_target) im_greyscale_reference = cv2.imread( rgb_ref_file_path, cv2.IMREAD_GRAYSCALE).astype(Utils.image_data_type)